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        <h1 id="Commonroad基础组件简介"><a href="#Commonroad基础组件简介" class="headerlink" title="Commonroad基础组件简介"></a>Commonroad基础组件简介</h1><p>commonroad基础组件由Commonroad-IO和Commonroad-Scenario-Designer组成。Commonroad-IO为Commonroad所有组件的基石，通过IO函数可实现commonroad场景的读取，场景的修改，场景中车辆路径的写入。Commonroad-Scenario-Designer可以通过GUI界面设计Commonroad场景，Commonroad所有组件的均应用于Commonroad场景。Commonroad场景是一个xml文件，里面存储了车辆预设的路径。</p>
<h1 id="Commonroad-IO"><a href="#Commonroad-IO" class="headerlink" title="Commonroad-IO"></a>Commonroad-IO</h1><p>Commonroad-IO官方教程链接为：<a target="_blank" rel="noopener" href="https://commonroad.in.tum.de/commonroad-io">CommonRoad Input-Output (tum.de)</a>，</p>
<p>在官方教程的可视化部分，只能逐帧输出图像。现利用plt.ion()函数修改教程中的绘图代码，实现连续绘图，将多帧图像在一个界面上连续显示，实现车辆在场景中运动的动态效果。绘图代码修改如下</p>
<figure class="highlight python"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment"># plot the scenario</span></span><br><span class="line">plt.figure(figsize=(<span class="number">25</span>, <span class="number">10</span>))</span><br><span class="line"><span class="comment"># from block to interactive</span></span><br><span class="line">plt.ion()</span><br><span class="line"><span class="comment"># plot the scenario for 40 time step, here each time step corresponds to 0.1 second</span></span><br><span class="line"><span class="keyword">for</span> i <span class="keyword">in</span> <span class="built_in">range</span>(<span class="number">0</span>, <span class="number">40</span>):</span><br><span class="line">    rnd = MPRenderer()</span><br><span class="line">    <span class="comment"># plot the scenario at different time step</span></span><br><span class="line">    scenario.draw(rnd, draw_params=&#123;<span class="string">&#x27;time_begin&#x27;</span>: i&#125;)</span><br><span class="line">    <span class="comment"># plot the planning problem set</span></span><br><span class="line">    planning_problem_set.draw(rnd)</span><br><span class="line">    rnd.render()</span><br><span class="line">    <span class="comment"># after 0.01 second, plot next scenario</span></span><br><span class="line">    plt.pause(<span class="number">0.01</span>)</span><br><span class="line">    <span class="comment"># clear</span></span><br><span class="line">    plt.clf()</span><br></pre></td></tr></table></figure>

<p>修改后运行效果图如下<br><img src="https://s2.loli.net/2022/02/22/Bwn3aeNfEruHMcK.gif"></p>
<h1 id="Commonroad场景"><a href="#Commonroad场景" class="headerlink" title="Commonroad场景"></a>Commonroad场景</h1><p>Commonroad场景由一个地图，动态对象和静态对象组成。对于每一个动态对象，它在场景定义中都有一个轨迹（即在t时刻，坐标为(x, y)）。静态对象指定其坐标即可。</p>
<p>安装commonroad_scenario_designer后，在terminal中运行以下两个命令中的一个即可</p>
<figure class="highlight plaintext"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line">crdesigner</span><br><span class="line">crdesigner gui</span><br></pre></td></tr></table></figure>

<p>执行上述命令后，可以使用gui界面进行地图设计，GUI界面中可添加车道、交通灯等元素，并且可以对它们的属性进行修改。下图为我生成一个半径为10m的封闭圆环道路的场景。官方演示视频为：<a target="_blank" rel="noopener" href="https://www.youtube.com/watch?v=qn0jBaMceAs&t=6s">CommonRoad Scenario Designer: GUI overview - YouTube</a><br><img src="https://s2.loli.net/2022/02/22/VhwoXflnuLmpz82.gif"></p>
<p>可以看到，地图由坐标系组成。接下来需要向地图中添加动态对象与静态对象。官方教程为：<a target="_blank" rel="noopener" href="https://commonroad.in.tum.de/tutorials/commonroad-interface">教程 - CommonRoad-IO - CommonRoad Interface (tum.de)</a></p>
<p>对于静态对象和动态对象，用StaticObstacle函数和DynamicObstacle函数对对象进行生成。初始化代码中关键参数如下所示：</p>
<figure class="highlight python"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br></pre></td><td class="code"><pre><span class="line">dynamic_obstacle = DynamicObstacle(dynamic_obstacle_id,</span><br><span class="line">                                   dynamic_obstacle_type,</span><br><span class="line">                                   dynamic_obstacle_shape,</span><br><span class="line">                                   dynamic_obstacle_initial_state,</span><br><span class="line">                                   dynamic_obstacle_prediction)</span><br><span class="line">                                   </span><br><span class="line">static_obstacle = StaticObstacle(static_obstacle_id,</span><br><span class="line">                                 static_obstacle_type,</span><br><span class="line">                                 static_obstacle_shape,</span><br><span class="line">                                 static_obstacle_initial_state)</span><br></pre></td></tr></table></figure>

<p>对于每一个动态对象都要生成轨迹，轨迹参数存储在<strong>dynamic_obstacle_prediction</strong>对象中。</p>

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